feat: huoyi M20 smooth/bridge training and stability docs
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
This commit is contained in:
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BSD 3-Clause License
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||||
|
||||
Copyright (c) 2024, DeepRoboticsLab
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
|
||||
3. Neither the name of the copyright holder nor the names of its
|
||||
contributors may be used to endorse or promote products derived from
|
||||
this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
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{
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"source_dir": "/home/ycpy/huangweifeng/hwf_workspace/rl_training_huoyi/rl_training/deep_robotics_model/M20/M20_urdf/meshes_solenopsis",
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@@ -0,0 +1,292 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!--
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||||
Solenopsis fire-ant, generated from the 2026 SolidWorks STEP assembly.
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|
||||
Units: metre, kilogram, radian, kg*m^2.
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Coordinate conversion: (x,y,z)_URDF = (z,x,y)_SolidWorks.
|
||||
All inertia tensors are about each rigid body's own centre of mass.
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|
||||
Visual geometry uses the STEP-derived STL files in
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../meshes_solenopsis_visual at a millimetre-to-metre scale of 0.001.
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Collision geometry remains primitive boxes and cylinders.
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|
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The 0.127 kg gap between the supplied rigid-group masses and the supplied
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whole-robot mass is lumped into base_link at the reported base COM. Thus
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base mass is 17.274 + 0.127 = 17.401 kg, while its reported COM and inertia
|
||||
tensor are unchanged. No spatial distribution is invented for that mass.
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-->
|
||||
<robot name="Solenopsis_fire_ant">
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000072 0.000171 0.076892" rpy="0 0 0"/>
|
||||
<mass value="15.84"/>
|
||||
<inertia ixx="0.121947189" ixy="-0.000666758" ixz="0.000143011"
|
||||
iyy="0.331070194" iyz="0.000150561" izz="0.410284855"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/base_link.STL" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.0788" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.706 0.310 0.1714"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Front-left. Left-link tensors use the exact proper rotation
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||||
(x,y,z)_link = (-z,-x,y)_SolidWorks-module. -->
|
||||
<link name="fl_knee">
|
||||
<inertial>
|
||||
<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
|
||||
<mass value="0.885"/>
|
||||
<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
|
||||
iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/fl_knee.STL" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.0005 -0.15575" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.088 0.031 0.3765"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.02625 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0205" radius="0.01995"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="fl_knee_joint" type="revolute">
|
||||
<origin xyz="0.117577164466 0.167 0.070" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="fl_knee"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit lower="-2.792" upper="2.809" effort="75.0" velocity="17.8024"/>
|
||||
</joint>
|
||||
|
||||
<link name="fl_wheel">
|
||||
<inertial>
|
||||
<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
|
||||
<mass value="1.340"/>
|
||||
<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
|
||||
iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/fl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="fl_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 -0.300" rpy="0 0 0"/>
|
||||
<parent link="fl_knee"/>
|
||||
<child link="fl_wheel"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="28.68" velocity="109.956"/>
|
||||
</joint>
|
||||
|
||||
<!-- Front-right. Right-link tensors use the exact proper rotation
|
||||
(x,y,z)_link = (z,x,y)_SolidWorks-module. -->
|
||||
<link name="fr_knee">
|
||||
<inertial>
|
||||
<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
|
||||
<mass value="0.885"/>
|
||||
<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
|
||||
iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/fr_knee.STL" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.0005 -0.15575" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.088 0.031 0.3765"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.02625 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0205" radius="0.01995"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="fr_knee_joint" type="revolute">
|
||||
<origin xyz="0.117577164466 -0.167 0.070" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="fr_knee"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit lower="-2.792" upper="2.809" effort="75.0" velocity="17.8024"/>
|
||||
</joint>
|
||||
|
||||
<link name="fr_wheel">
|
||||
<inertial>
|
||||
<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
|
||||
<mass value="1.340"/>
|
||||
<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
|
||||
iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/fr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="fr_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 -0.300" rpy="0 0 0"/>
|
||||
<parent link="fr_knee"/>
|
||||
<child link="fr_wheel"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="28.68" velocity="109.956"/>
|
||||
</joint>
|
||||
|
||||
<link name="hl_knee">
|
||||
<inertial>
|
||||
<origin xyz="-0.000040 -0.001088 -0.158988" rpy="0 0 0"/>
|
||||
<mass value="0.885"/>
|
||||
<inertia ixx="0.013089177" ixy="0.000002705" ixz="0.000004495"
|
||||
iyy="0.013409459" iyz="-0.000242701" izz="0.000443796"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/hl_knee.STL" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.0005 -0.15575" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.088 0.031 0.3765"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 -0.02625 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0205" radius="0.01995"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="hl_knee_joint" type="revolute">
|
||||
<origin xyz="-0.117577164466 0.167 0.070" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="hl_knee"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit lower="-2.809" upper="2.792" effort="75.0" velocity="17.8024"/>
|
||||
</joint>
|
||||
|
||||
<link name="hl_wheel">
|
||||
<inertial>
|
||||
<origin xyz="-0.000002 0.064 -0.000009" rpy="0 0 0"/>
|
||||
<mass value="1.340"/>
|
||||
<inertia ixx="0.004085980" ixy="0.000000178" ixz="-0.000000095"
|
||||
iyy="0.007221854" iyz="0.000000526" izz="0.004086529"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/hl_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.064 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="hl_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 -0.300" rpy="0 0 0"/>
|
||||
<parent link="hl_knee"/>
|
||||
<child link="hl_wheel"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="28.68" velocity="109.956"/>
|
||||
</joint>
|
||||
|
||||
<link name="hr_knee">
|
||||
<inertial>
|
||||
<origin xyz="0.000040 0.001088 -0.158988" rpy="0 0 0"/>
|
||||
<mass value="0.885"/>
|
||||
<inertia ixx="0.013089177" ixy="0.000002705" ixz="-0.000004495"
|
||||
iyy="0.013409459" iyz="0.000242701" izz="0.000443796"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/hr_knee.STL" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.0005 -0.15575" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.088 0.031 0.3765"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0.02625 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0205" radius="0.01995"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="hr_knee_joint" type="revolute">
|
||||
<origin xyz="-0.117577164466 -0.167 0.070" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="hr_knee"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit lower="-2.809" upper="2.792" effort="75.0" velocity="17.8024"/>
|
||||
</joint>
|
||||
|
||||
<link name="hr_wheel">
|
||||
<inertial>
|
||||
<origin xyz="0.000002 -0.064 -0.000009" rpy="0 0 0"/>
|
||||
<mass value="1.340"/>
|
||||
<inertia ixx="0.004085980" ixy="0.000000178" ixz="0.000000095"
|
||||
iyy="0.007221854" iyz="-0.000000526" izz="0.004086529"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="../meshes_solenopsis_visual/hr_wheel.STL" scale="0.001122449 0.001428571 0.001122449"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.064 0" rpy="1.570796326795 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="hr_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 -0.300" rpy="0 0 0"/>
|
||||
<parent link="hr_knee"/>
|
||||
<child link="hr_wheel"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="28.68" velocity="109.956"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,18 @@
|
||||
# Robot Models Repository
|
||||
|
||||
This repository contains 3D models for three Deep Robotics robots: **Lite3**, **M20**, and **X30**. Each model is provided in MJCF, URDF, and USD formats. To visualize the model and do some measuring, I recommend using this [tool](https://viewer.robotsfan.com/). Just drag your folder to the web page and you can see everything.
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<span style="color: red;">**Note**</span>: This repository only contains low resolution files. To download the high resolution files, please use [this link](https://drive.google.com/drive/folders/1EOELXUYSBPEJeD0rUIkJxnlLMDr6IHBV?usp=sharing)
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## Model Overview
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**Note**: High resolution models are good for new simulators like isaaclab/isaacsim but old simulators like pybullet cannot open files this big.
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| Robot Model | High Resolution Image | Low Resolution Image |
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|:-----------:|:---------------------:|:--------------------:|
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| **Lite3** | <img src="./images/lite3_high_res.png" width="200" /><br>Lite3/Lite3_urdf/urdf/Lite3_high_res.urdf | <img src="./images/lite3.png" width="200" /><br>Lite3/Lite3_urdf/urdf/Lite3.urdf |
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| **X30** | <img src="./images/x30_high_res.png" width="200" /><br>X30/X30_urdf/urdf/X30_high_res.urdf | <img src="./images/x30.png" width="200" /><br>X30/X30_urdf/urdf/X30.urdf |
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| **M20** | <img src="./images/m20_high_res.png" width="200" /><br>M20/M20_urdf/urdf/M20_high_res.urdf | <img src="./images/m20.png" width="200" /><br>M20/M20_urdf/urdf/M20.urdf |
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## Contributors
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See the [Contributors](Contributors.md) page for a list of contributors.
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Reference in New Issue
Block a user